Unmanned diesel engine monitoring method

Abstract

The invention discloses an unmanned diesel engine monitoring method, and relates to an engine monitoring technology, an ECU obtains demand parameters of a diesel engine from an unmanned vehicle controller, and the ECU carries out fault analysis according to collected diesel engine operation parameters and demand parameters so as to judge whether the diesel engine operates normally or not; and if the judgment result is that the diesel engine operates abnormally, the ECU generates fault information and sends the fault information to an unmanned vehicle controller, and the unmanned vehicle controller forwards the fault information to an unmanned scheduling platform after receiving the fault information. The problem that mechanical faults of an engine of an unmanned vehicle are difficult to find in the prior art is solved, and background management personnel can be effectively reminded when the mechanical faults of the diesel engine occur, so that the running safety of the vehicle is protected.

Description

Technical Field

[0001] The invention relates to an engine monitoring technology, and more particularly to a diesel engine monitoring method for unmanned driving. Background Art

[0002] The working process of a diesel engine is a complex combustion process with multiple parameters coupled, which requires coordination and support from the intake system, fuel system, electronic control system, lubrication system, etc. Electronically controlled diesel engines can diagnose faults in engine sensors, electronically controlled actuators, and wiring harnesses, but cannot accurately determine faults in mechanical components. The diagnosis of the power system of unmanned vehicles is currently mainly based on the diagnosis of the diesel engine control unit itself. This diagnostic method has drawbacks when applied to the unmanned driving field. When a mechanical failure occurs in the engine, it will not be able to issue an early warning, which may cause a serious accident.

[0003] In the existing technical solutions, the diesel engine controller's own diagnosis is mainly used to determine whether the engine is normal. However, this solution is difficult to detect the unstable speed, black smoke, insufficient power, abnormal noise, etc. caused by the mechanical failure of the engine in time. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a diesel engine monitoring method for unmanned driving purposes in view of the deficiencies in the prior art, thereby solving the problem that it is difficult for unmanned vehicles to detect engine mechanical failures in the prior art.

[0005] The present invention provides a method for monitoring a diesel engine for unmanned driving, the method comprising:

[0006] The ECU obtains the required parameters of the diesel engine from the unmanned vehicle controller. The ECU performs fault analysis based on the collected diesel engine operating parameters and required parameters to determine whether the diesel engine is operating normally. If the judgment result is that the diesel engine is not operating normally, the ECU generates fault information and sends the fault information to the unmanned vehicle controller. After receiving the fault information, the unmanned vehicle controller forwards it to the unmanned driving dispatching platform.

[0007] As a further improvement, when executing the fault analysis, the ECU first traverses the electronic control data of the diesel engine to confirm whether there is an electronic control fault code. If not, the fault analysis is performed. Otherwise, the fault type of the electronic control fault code is determined in advance, and the special fault processing text is queried from the database according to the fault type. The special fault processing text is then sent to the unmanned driving dispatch platform through the unmanned vehicle controller.

[0008] As a further improvement, the fault analysis includes power over limit abnormal monitoring, speed deviation over limit abnormal monitoring, speed fluctuation over limit abnormal monitoring and speed acceleration over limit abnormal monitoring; when the monitoring result of the power over limit abnormal monitoring is normal, enter the speed deviation over limit abnormal monitoring; when the monitoring result of the speed deviation over limit abnormal monitoring is normal, enter the speed switching over limit abnormal monitoring; when the monitoring result of the speed switching over limit abnormal monitoring is normal, enter the speed acceleration over limit abnormal monitoring.

[0009] Furthermore, the power over-limit abnormal monitoring is specifically as follows: the ECU combines the received required power and required transmission efficiency with the calibrated universal characteristics to find the theoretical fuel injection amount, and compares the actual fuel injection amount collected with the theoretical fuel injection amount. When the deviation between the actual fuel injection amount and the theoretical fuel injection amount exceeds the set fuel quantity difference threshold, it is determined that there is an abnormality in the mechanical components of the diesel engine.

[0010] Furthermore, the speed deviation exceeding limit abnormal monitoring is specifically as follows: when the ECU receives the required speed, the actual speed of the diesel engine is controlled according to the required speed, and when the actual speed of the diesel engine does not reach the required speed within a preset time, it is judged that the diesel engine speed is abnormally increased.

[0011] Furthermore, the speed fluctuation exceeding limit abnormal monitoring is specifically as follows: the ECU judges the speed stability according to the integral value of the received required speed and the absolute value of the deviation from the actual speed collected, and when the integral value exceeds a preset integral threshold within a unit time, it is judged that there is an abnormality in the speed control stability of the diesel engine.

[0012] Furthermore, the speed acceleration over-limit abnormal monitoring is specifically as follows: the ECU calibrates the target speed according to the throttle opening of the diesel engine, and calculates the speed difference and time difference according to the target speeds corresponding to two moments, and calculates the diesel engine speed acceleration according to the speed difference and time difference; if the diesel engine speed acceleration is less than the target acceleration, it is determined that the diesel has a cylinder misfire.

[0013] Beneficial Effects

[0014] The advantages of the present invention are:

[0015] 1. The ECU of the present invention obtains the required parameters of the diesel engine from the unmanned vehicle controller, and performs fault analysis based on the collected diesel engine operating parameters and required parameters to determine whether the diesel engine is operating normally. When the diesel engine is not operating normally, fault information is generated and sent to the unmanned vehicle controller. After receiving the fault information, the unmanned vehicle controller forwards it to the unmanned driving dispatch platform and reports the fault to alert the backstage management personnel to protect the safety of vehicle operation, thus solving the problem that it is difficult for unmanned vehicles to detect engine mechanical faults in the prior art.

[0016] 2. When performing fault analysis, the ECU first traverses the electronic control data of the diesel engine to confirm whether there is an electronic control fault code. This can rule out the possibility that the fault is caused by an electronic control fault, reducing the risk of misjudgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 A schematic flow chart of a method for monitoring a diesel engine for unmanned driving according to the present invention;

[0018] Figure 2 It is a schematic diagram of the fault analysis process of the present invention. DETAILED DESCRIPTION

[0019] The present invention will be further described below in conjunction with the embodiments, but it does not constitute any limitation to the present invention. Any limited number of modifications made by anyone within the scope of the claims of the present invention are still within the scope of the claims of the present invention.

[0020] See also Figure 1-Figure 2 The present invention provides a method for monitoring a diesel engine for unmanned driving, which comprises the following steps: the ECU obtains the required parameters of the diesel engine from the unmanned vehicle controller, and the ECU performs fault analysis based on the collected diesel engine operating parameters and the required parameters to determine whether the diesel engine is operating normally; if the result of the judgment is that the diesel engine is not operating normally, the ECU generates fault information. The ECU sends the fault information to the unmanned vehicle controller through the J1939 protocol, and the unmanned vehicle controller forwards the fault information to the unmanned driving dispatching platform after receiving the fault information, and reports the fault to alert the backstage management personnel to protect the safety of vehicle operation, thereby solving the problem that it is difficult for unmanned vehicles to detect engine mechanical faults in the prior art.

[0021] In the present invention, when performing fault analysis, the ECU first traverses the electronic control data of the diesel engine to confirm whether there is an electronic control fault code. If not, the fault analysis is performed. Otherwise, the fault type of the electronic control fault code is determined in advance, and the fault special processing text is queried from the database according to the fault type. Then, the fault special processing text is sent to the unmanned driving dispatching platform through the unmanned vehicle controller. In this way, it can be ruled out that the fault is caused by the electronic control fault, reducing the risk of misjudgment.

[0022] Specifically, the fault analysis includes power over-limit abnormal monitoring, speed deviation over-limit abnormal monitoring, speed fluctuation over-limit abnormal monitoring and speed acceleration over-limit abnormal monitoring.

[0023] After the electronic control fault code analysis is passed, it first enters the power over-limit abnormal monitoring. Among them, the power over-limit abnormal monitoring is specifically: the ECU combines the received required power and required transmission efficiency with the calibrated universal characteristics to find the theoretical injection amount, and compares the actual injection amount collected with the theoretical injection amount. When the deviation between the actual injection amount and the theoretical injection amount exceeds the set oil volume difference threshold, it is judged that there is an abnormality in the mechanical parts of the diesel engine, and then the corresponding fault code is generated and the safe mode is entered, and the engine is shut down at the same time. The fault code is sent to the unmanned driving dispatching platform through the unmanned vehicle controller. If the monitoring result of the power over-limit abnormal monitoring is normal, it enters the speed deviation over-limit abnormal monitoring.

[0024] The speed deviation over-limit abnormal monitoring is as follows: when the ECU receives the required speed, the actual speed of the diesel engine is controlled according to the required speed, and when the actual speed of the diesel engine does not reach the required speed within the preset time, it is judged that the diesel engine speed increase is abnormal, and the corresponding fault code is generated and the safe mode is entered, and the engine is shut down at the same time. The fault code is sent to the unmanned driving dispatch platform through the unmanned vehicle controller. If the monitoring result of the speed deviation over-limit abnormal monitoring is normal, it enters the speed dial over-limit abnormal monitoring.

[0025] The speed fluctuation over-limit abnormal monitoring is as follows: the ECU determines the speed stability based on the integral value of the received required speed and the absolute value of the deviation from the actual speed collected. When the integral value exceeds the preset integral threshold within a unit time, it is determined that there is an abnormality in the diesel engine speed control stability, and a corresponding fault code is generated and the safe mode is entered, and the engine is shut down at the same time. The fault code is sent to the unmanned driving dispatch platform through the unmanned vehicle controller. If the monitoring result of the speed dial over-limit abnormal monitoring is normal, it enters the speed acceleration over-limit abnormal monitoring.

[0026] The speed acceleration over-limit abnormal monitoring is mainly based on the acceleration balance of the diesel engine speed to judge whether each cylinder is working normally. Under normal circumstances, the engine acceleration trend is consistent after each cylinder of the engine has done work. After the engine has a cylinder misfire, the acceleration of a single cylinder will be significantly weaker. Therefore, the ECU calibrates the target speed according to the throttle opening of the diesel engine, and calculates the speed difference and time difference according to the target speeds corresponding to the two moments, and calculates the diesel engine speed acceleration according to the speed difference and time difference; if the diesel engine speed acceleration is less than the target acceleration, it is judged that the diesel has a cylinder misfire.

[0027] The above is only a preferred embodiment of the present invention. It should be pointed out that for those skilled in the art, several modifications and improvements can be made without departing from the structure of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent.

Claims

1. A method for monitoring a diesel engine for unmanned driving, characterized in that: The method is: The ECU obtains the required parameters of the diesel engine from the unmanned vehicle controller. The ECU performs fault analysis based on the collected diesel engine operating parameters and required parameters to determine whether the diesel engine is operating normally. If the judgment result is that the diesel engine is not operating normally, the ECU generates fault information and sends the fault information to the unmanned vehicle controller. After receiving the fault information, the unmanned vehicle controller forwards it to the unmanned driving dispatching platform.

2. The unmanned diesel engine monitoring method according to claim 1, characterized in that: When executing the fault analysis, the ECU first traverses the electronic control data of the diesel engine to confirm whether there is an electronic control fault code. If not, the fault analysis is performed. Otherwise, the fault type of the electronic control fault code is determined in advance, and the special fault processing text is queried from the database according to the fault type. The special fault processing text is then sent to the unmanned driving dispatch platform through the unmanned vehicle controller.

3. A method for monitoring a diesel engine for unmanned driving according to claim 1 or 2, characterized in that: The fault analysis includes power over-limit abnormal monitoring, speed deviation over-limit abnormal monitoring, speed fluctuation over-limit abnormal monitoring and speed acceleration over-limit abnormal monitoring; When the monitoring result of the power over-limit abnormal monitoring is normal, entering the speed deviation over-limit abnormal monitoring; When the monitoring result of the speed deviation over-limit abnormal monitoring is normal, enter the speed switching over-limit abnormal monitoring; when the monitoring result of the speed switching over-limit abnormal monitoring is normal, enter the speed acceleration over-limit abnormal monitoring.

4. The unmanned diesel engine monitoring method according to claim 3 is characterized in that: The power over-limit abnormal monitoring is specifically as follows: the ECU combines the received required power and required transmission efficiency with the calibrated universal characteristics to find the theoretical fuel injection amount, and compares the actual fuel injection amount collected with the theoretical fuel injection amount. When the deviation between the actual fuel injection amount and the theoretical fuel injection amount exceeds the set fuel amount difference threshold, it is determined that there is an abnormality in the mechanical parts of the diesel engine.

5. The unmanned diesel engine monitoring method according to claim 3 is characterized in that: The speed deviation exceeding limit abnormal monitoring is specifically as follows: when the ECU receives the required speed, the actual speed of the diesel engine is controlled according to the required speed, and when the actual speed of the diesel engine does not reach the required speed within a preset time, it is judged that the diesel engine speed increase is abnormal.

6. The unmanned diesel engine monitoring method according to claim 3 is characterized in that: The speed fluctuation exceeding limit abnormal monitoring is specifically as follows: the ECU judges the speed stability based on the integral value of the received required speed and the absolute value of the deviation from the actual speed collected therefrom; when the integral value exceeds a preset integral threshold within a unit time, it is judged that there is an abnormality in the speed control stability of the diesel engine.

7. The unmanned diesel engine monitoring method according to claim 3 is characterized in that: The speed acceleration over-limit abnormal monitoring is specifically as follows: the ECU calibrates the target speed according to the throttle opening of the diesel engine, calculates the speed difference and the time difference according to the target speeds corresponding to two moments, and calculates the speed acceleration of the diesel engine according to the speed difference and the time difference; If the diesel engine speed acceleration is less than the target acceleration, it is determined that the diesel engine has cylinder misfire.

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